Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606334
Shen Xiaorong, Wang Yueming, Dong Rongsheng
The attitude information is one of the most importance for navigation or stabilization control. In this paper, a low cost and robust micro inertial measurement/GPS combinatorial attitude measurement system is implemented. The attitude is obtained with two-antenna GPS configuration combined with micro-inertial measurement unit. Based on the analysis of the fusion algorithm for attitude estimation, the filter model is constructed with error multiplicative quaternion. Furthermore, the UD decomposition is adopted to suppress the filter divergence. The experiment result shows that the design satisfies the precision requirements for unmanned aerial vehicles or other tactical applications.
{"title":"Implementation of micro-inertial measurement/GPS combinatorial attitude measurement system","authors":"Shen Xiaorong, Wang Yueming, Dong Rongsheng","doi":"10.1109/ASCC.2013.6606334","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606334","url":null,"abstract":"The attitude information is one of the most importance for navigation or stabilization control. In this paper, a low cost and robust micro inertial measurement/GPS combinatorial attitude measurement system is implemented. The attitude is obtained with two-antenna GPS configuration combined with micro-inertial measurement unit. Based on the analysis of the fusion algorithm for attitude estimation, the filter model is constructed with error multiplicative quaternion. Furthermore, the UD decomposition is adopted to suppress the filter divergence. The experiment result shows that the design satisfies the precision requirements for unmanned aerial vehicles or other tactical applications.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"26 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77071105","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606327
Mohammad Sleiman, B. Kedjar, A. Hamadi, K. Al-haddad, H. Kanaan
This paper deals with the modeling, analysis, control and simulation of a doubly-fed induction generator (DFIG) driven by a wind turbine. This grid connected wind energy conversion system (WECS) is composed of DFIG and two back-to-back PWM voltage-source converters in the rotor circuit. A mathematical model of the machine, derived in an appropriate dq reference frame is established. The grid voltage oriented vector control is used for the grid side converter (GSC) in order to maintain a constant DC bus voltage and to compensate for reactive power at the power network. The stator voltage orientated vector control is adopted in the rotor side converter (RSC) control strategy, providing efficient handling of active and reactive power at the stator, as well as a maximum power point tracking (MPPT) method for the DFIG-based wind turbine. The proposed system is simulated for different operating conditions to illustrate the reliability of the control technique. Corresponding system simulation results under nonlinear load variations and wind speed transients are presented to demonstrate the significance of MPPT in WECS, and the effectiveness of adopted control technique.
{"title":"Modeling, control and simulation of DFIG for maximum power point tracking","authors":"Mohammad Sleiman, B. Kedjar, A. Hamadi, K. Al-haddad, H. Kanaan","doi":"10.1109/ASCC.2013.6606327","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606327","url":null,"abstract":"This paper deals with the modeling, analysis, control and simulation of a doubly-fed induction generator (DFIG) driven by a wind turbine. This grid connected wind energy conversion system (WECS) is composed of DFIG and two back-to-back PWM voltage-source converters in the rotor circuit. A mathematical model of the machine, derived in an appropriate dq reference frame is established. The grid voltage oriented vector control is used for the grid side converter (GSC) in order to maintain a constant DC bus voltage and to compensate for reactive power at the power network. The stator voltage orientated vector control is adopted in the rotor side converter (RSC) control strategy, providing efficient handling of active and reactive power at the stator, as well as a maximum power point tracking (MPPT) method for the DFIG-based wind turbine. The proposed system is simulated for different operating conditions to illustrate the reliability of the control technique. Corresponding system simulation results under nonlinear load variations and wind speed transients are presented to demonstrate the significance of MPPT in WECS, and the effectiveness of adopted control technique.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"46 6 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76173162","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606124
Ronghao Zheng, Zhiyun Lin, M. Fu, Dong Sun
The distributed circumnavigation problem, in which the task is to circumnavigate a target of interest by a network of autonomous agents, has many applications in security and surveillance, orbit maintenance, source seeking, etc. This paper deals with the circumnavigation problem using a team of non-holonomic unicycles. A novel distributed solution is proposed based on cyclic repelling strategies to achieve a circular motion around a target in a circular formation. This new approach considers minimum number of information flow links and local measurements only, yet a uniform distribution of unicycles rotated around the target is accomplished. The asymptotic collective behavior is analyzed based on the block diagonalization of circulant matrices by a Fourier transform. Simulation results also verify the validity of the proposed control algorithm.
{"title":"Distributed circumnavigation by unicycles with cyclic repelling strategies","authors":"Ronghao Zheng, Zhiyun Lin, M. Fu, Dong Sun","doi":"10.1109/ASCC.2013.6606124","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606124","url":null,"abstract":"The distributed circumnavigation problem, in which the task is to circumnavigate a target of interest by a network of autonomous agents, has many applications in security and surveillance, orbit maintenance, source seeking, etc. This paper deals with the circumnavigation problem using a team of non-holonomic unicycles. A novel distributed solution is proposed based on cyclic repelling strategies to achieve a circular motion around a target in a circular formation. This new approach considers minimum number of information flow links and local measurements only, yet a uniform distribution of unicycles rotated around the target is accomplished. The asymptotic collective behavior is analyzed based on the block diagonalization of circulant matrices by a Fourier transform. Simulation results also verify the validity of the proposed control algorithm.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"41 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76207893","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606213
Hyun Chul Roh, Taekjun Oh, Yungeun Choe, M. Chung
Here we present 3D world modeling and its quantitative analysis methods in urban environment. If the expensive RTK GPS cannot be prepared, it is difficult to measure the accuracy of the 3D world model due to the blackout of GPS particularly in urban environment. To cope with this difficulty, we combine to process both satellite image and point cloud to compare each other in order to represents accuracy of 3D world model. We also introduce 3D world modeling method through localization algorithm and global registration method in order to validate our quantitative analysis. In the experimental result, we describe our sensor system and evaluate the proposed quantitative analysis method using 3 different localization algorithm. Our framework is suitable of mobile mapping system in urban environment in terms of cost.
{"title":"Satellite map based quantitative analysis for 3D world modeling of urban environment","authors":"Hyun Chul Roh, Taekjun Oh, Yungeun Choe, M. Chung","doi":"10.1109/ASCC.2013.6606213","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606213","url":null,"abstract":"Here we present 3D world modeling and its quantitative analysis methods in urban environment. If the expensive RTK GPS cannot be prepared, it is difficult to measure the accuracy of the 3D world model due to the blackout of GPS particularly in urban environment. To cope with this difficulty, we combine to process both satellite image and point cloud to compare each other in order to represents accuracy of 3D world model. We also introduce 3D world modeling method through localization algorithm and global registration method in order to validate our quantitative analysis. In the experimental result, we describe our sensor system and evaluate the proposed quantitative analysis method using 3 different localization algorithm. Our framework is suitable of mobile mapping system in urban environment in terms of cost.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"71 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76434531","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606310
M. Díaz-Cacho, E. Delgado, Pablo Falcón, A. Barreiro
Network delays and packet losses are two critical parameters for the performance of networked control systems (NCS) in non-deterministic packet networks, such as the Internet. To avoid the need of a remote location, the laboratory experiences in teleoperation or telerobotics uses network simulators to reproduce the delays and packet losses. This paper presents an Internet emulation system that performs as a sensor of Internet delays and packet losses and as an actuator that reproduces these parameters into a local data flow. The paper presents some comparative results and makes a performance analysis of the whole system.
{"title":"Sensor/actuator system for internet delays and packet losses","authors":"M. Díaz-Cacho, E. Delgado, Pablo Falcón, A. Barreiro","doi":"10.1109/ASCC.2013.6606310","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606310","url":null,"abstract":"Network delays and packet losses are two critical parameters for the performance of networked control systems (NCS) in non-deterministic packet networks, such as the Internet. To avoid the need of a remote location, the laboratory experiences in teleoperation or telerobotics uses network simulators to reproduce the delays and packet losses. This paper presents an Internet emulation system that performs as a sensor of Internet delays and packet losses and as an actuator that reproduces these parameters into a local data flow. The paper presents some comparative results and makes a performance analysis of the whole system.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"398 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79809935","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606250
Jeng‐Tze Huang, Tran Van Hung
Issues of control designs for omnidirectional mobile robots with parametric uncertainty, including the location of the center of the mass and the electrical constants, are addressed. First, the Lagrange method is used for deriving the system dynamics. Next, a singularity-free adaptive linearizing control is proposed to tackle with such a task. It ensures the asymptotic tracking stability and avoidance of control singularity at the same time. Simulation is carried out to demonstrate the validity of the proposed design in the final.
{"title":"Singularity-free adaptive control for uncertain omnidirectional mobile robots","authors":"Jeng‐Tze Huang, Tran Van Hung","doi":"10.1109/ASCC.2013.6606250","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606250","url":null,"abstract":"Issues of control designs for omnidirectional mobile robots with parametric uncertainty, including the location of the center of the mass and the electrical constants, are addressed. First, the Lagrange method is used for deriving the system dynamics. Next, a singularity-free adaptive linearizing control is proposed to tackle with such a task. It ensures the asymptotic tracking stability and avoidance of control singularity at the same time. Simulation is carried out to demonstrate the validity of the proposed design in the final.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"8 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80138799","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606236
Yan Liu, Xiaoqing Lu, Jianbo Xu
Although lots of vehicle detection methods can implement vehicle detection with high performance, most of their application is confined by traffic scenes. The detection precision may change heavily with traffic congestion extent, illumination variance and vehicle moving speed. To overcome the problem of weak traffic scene adaptability, a robust vehicle detection method is proposed using the inter-relationship of consecutive multiframes. The changing of frame content is a process including abrupt and gradual variation caused by the objects' color and intensity changing. Thus, the local maxima of consecutive frames' objective function are constructed to determine the best vehicle detection frame. This function is invariant to traffic congestion and vehicle speed, and avoids vehicle segmentation from frames. For illumination invariance, traditional threshold method is substituted by peak searching method. Experiments show that the proposed method implements stably in different traffic scenes than traditional methods, and with the real-time performance and higher detection precision.
{"title":"Traffic scenes invariant vehicle detection","authors":"Yan Liu, Xiaoqing Lu, Jianbo Xu","doi":"10.1109/ASCC.2013.6606236","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606236","url":null,"abstract":"Although lots of vehicle detection methods can implement vehicle detection with high performance, most of their application is confined by traffic scenes. The detection precision may change heavily with traffic congestion extent, illumination variance and vehicle moving speed. To overcome the problem of weak traffic scene adaptability, a robust vehicle detection method is proposed using the inter-relationship of consecutive multiframes. The changing of frame content is a process including abrupt and gradual variation caused by the objects' color and intensity changing. Thus, the local maxima of consecutive frames' objective function are constructed to determine the best vehicle detection frame. This function is invariant to traffic congestion and vehicle speed, and avoids vehicle segmentation from frames. For illumination invariance, traditional threshold method is substituted by peak searching method. Experiments show that the proposed method implements stably in different traffic scenes than traditional methods, and with the real-time performance and higher detection precision.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"25 5 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83159848","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606284
R. L. Pereira, K. Kienitz
This paper presents synthesis conditions for the design and application of Linear Parameter-Varying (LPV) controllers for a 3DOF (Degrees of Freedom) Hover. This laboratory plant simulates typical behaviors of an VTOL ("vertical taking-off landing") aircraft, also known as X4-flyer. The dynamics of the Hover are described by a 6th order model taking as state variables the angles of roll, pitch, yaw and associated rates. The design problem has been formulated via parametric H∞ loop shaping control by describing the uncertainly as perturbations to normalized coprime factors of the shaped plant. The design strategy is characterized by the insertion of a free parameter that aims to increase the flexibility of the design ensuring robust stabilization of the linear parameter-varying system. For the existence of a gain-scheduled parametric H∞ loop shaping controller, a set of sufficient conditions has been derived in an LMI framework. Finally, we present experimental results obtained with the application of the parametric H∞ loop shaping controller for the tracking of reference trajectories of the Hover.
{"title":"Design and application of gain-scheduling control for a Hover: Parametric H∞ loop shaping approach","authors":"R. L. Pereira, K. Kienitz","doi":"10.1109/ASCC.2013.6606284","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606284","url":null,"abstract":"This paper presents synthesis conditions for the design and application of Linear Parameter-Varying (LPV) controllers for a 3DOF (Degrees of Freedom) Hover. This laboratory plant simulates typical behaviors of an VTOL (\"vertical taking-off landing\") aircraft, also known as X4-flyer. The dynamics of the Hover are described by a 6th order model taking as state variables the angles of roll, pitch, yaw and associated rates. The design problem has been formulated via parametric H∞ loop shaping control by describing the uncertainly as perturbations to normalized coprime factors of the shaped plant. The design strategy is characterized by the insertion of a free parameter that aims to increase the flexibility of the design ensuring robust stabilization of the linear parameter-varying system. For the existence of a gain-scheduled parametric H∞ loop shaping controller, a set of sufficient conditions has been derived in an LMI framework. Finally, we present experimental results obtained with the application of the parametric H∞ loop shaping controller for the tracking of reference trajectories of the Hover.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"168 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80545269","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606381
A. Faudzi, Teh Chuan Enn, K. Osman, Z. Ismail
This paper proposed a linearized model of intelligent pneumatic actuator (IPA) based on the linearization technique known as Taylor series expansion. First, nonlinear mathematical modeling for the IPA system according to fundamental physical derivation is presented. Linearization is then introduced to linearize this nonlinear mathematical model. For the controller design, Neuro-Fuzzy Inference System (ANFIS) is proposed. ANFIS, which combines neural network and fuzzy logic, are adopted and applied to the linear mathematical model to perform position, force and viscosity controls. By training the correct data, membership functions for the fuzzy logic can be obtained through ANFIS toolbox in MATLAB. Closed-loop control for IPA system is conducted and performance the Proportional-Integral (PI) ANFIS controller is analyzed and compared with conventional PI controller. Simulation results show that PI ANFIS controller performed better than conventional PI controller in terms of position, force tracking and viscosity control.
{"title":"Linearized mathematical model of intelligent pneumatic actuator system: Position, force and viscosity controls","authors":"A. Faudzi, Teh Chuan Enn, K. Osman, Z. Ismail","doi":"10.1109/ASCC.2013.6606381","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606381","url":null,"abstract":"This paper proposed a linearized model of intelligent pneumatic actuator (IPA) based on the linearization technique known as Taylor series expansion. First, nonlinear mathematical modeling for the IPA system according to fundamental physical derivation is presented. Linearization is then introduced to linearize this nonlinear mathematical model. For the controller design, Neuro-Fuzzy Inference System (ANFIS) is proposed. ANFIS, which combines neural network and fuzzy logic, are adopted and applied to the linear mathematical model to perform position, force and viscosity controls. By training the correct data, membership functions for the fuzzy logic can be obtained through ANFIS toolbox in MATLAB. Closed-loop control for IPA system is conducted and performance the Proportional-Integral (PI) ANFIS controller is analyzed and compared with conventional PI controller. Simulation results show that PI ANFIS controller performed better than conventional PI controller in terms of position, force tracking and viscosity control.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"27 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82642965","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-06-23DOI: 10.1109/ASCC.2013.6606308
A. Jubien, M. Gautier, A. Janot
The Usual Closed Loop Output Error (CLOE) method for dynamic parameters identification of robots has several drawbacks: slow convergence, sensitivity to initial conditions and the calculation of significant parameters is not easy-to-run. Recently a new CLOE method called as DIDIM for Direct and Inverse Identification Model needing only actual forces/torques data was validated on rigid robots. This method avoids the drawbacks of the usual CLOE method. With the DIDIM method, the optimal parameters minimize the 2-norm of the error between the actual forces/torques and the simulated ones. It is based on a closed-loop simulation of the robot using the direct dynamic model, the same structure of control-law and the same reference trajectory for both the actual robot and the simulated one. The DIDIM method simplifies dramatically the non-linear Least Squares problem by using the Inverse Dynamic Model in order to obtain an analytical expression of the simulated forces/torques which are linear in the parameters. This explains why the DIDIM method has a fast convergence. In this paper, the DIDIM method is compared with the usual CLOE method which uses the actual positions as output. Experiments are performed on a 6 degrees of freedom robot Stäubli TX40.
{"title":"Effectiveness of the DIDIM method with respect to the usual CLOE method. Application to the dynamic parameters identification of an industrial robot","authors":"A. Jubien, M. Gautier, A. Janot","doi":"10.1109/ASCC.2013.6606308","DOIUrl":"https://doi.org/10.1109/ASCC.2013.6606308","url":null,"abstract":"The Usual Closed Loop Output Error (CLOE) method for dynamic parameters identification of robots has several drawbacks: slow convergence, sensitivity to initial conditions and the calculation of significant parameters is not easy-to-run. Recently a new CLOE method called as DIDIM for Direct and Inverse Identification Model needing only actual forces/torques data was validated on rigid robots. This method avoids the drawbacks of the usual CLOE method. With the DIDIM method, the optimal parameters minimize the 2-norm of the error between the actual forces/torques and the simulated ones. It is based on a closed-loop simulation of the robot using the direct dynamic model, the same structure of control-law and the same reference trajectory for both the actual robot and the simulated one. The DIDIM method simplifies dramatically the non-linear Least Squares problem by using the Inverse Dynamic Model in order to obtain an analytical expression of the simulated forces/torques which are linear in the parameters. This explains why the DIDIM method has a fast convergence. In this paper, the DIDIM method is compared with the usual CLOE method which uses the actual positions as output. Experiments are performed on a 6 degrees of freedom robot Stäubli TX40.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"13 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88778122","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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